Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots
Shunpeng Yang,Hua Chen,Zhen Fu,Wei Zhang,Shunpeng Yang,Hua Chen,Zhen Fu,Wei Zhang
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adjust the control input sent to the robot to assist the tracking controller to better follow the planned reference trajectory. To achieve this goal, this paper develops a novel force-feedback based whole-body stabilizer th...
